Quadrotor

/*

  Stream.h - base class for character-based streams.

  Copyright (c) 2010 David A. Mellis.  All right reserved.

  This library is free software; you can redistribute it and/or

  modify it under the terms of the GNU Lesser General Public

  License as published by the Free Software Foundation; either

  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,

  but WITHOUT ANY WARRANTY; without even the implied warranty of

  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public

  License along with this library; if not, write to the Free Software

  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

  parsing functions based on TextFinder library by Michael Margolis

*/

#ifndef Stream_h

#define Stream_h

#include <inttypes.h>

#include "Print.h"

// compatability macros for testing

/*

#define   getInt()            parseInt()

#define   getInt(skipChar)    parseInt(skipchar)

#define   getFloat()          parseFloat()

#define   getFloat(skipChar)  parseFloat(skipChar)

#define   getString( pre_string, post_string, buffer, length)

readBytesBetween( pre_string, terminator, buffer, length)

*/

class Stream : public Print

{

  private:

    unsigned long _timeout;      // number of milliseconds to wait for the next char before aborting timed read

    unsigned long _startMillis;  // used for timeout measurement

    int timedRead();    // private method to read stream with timeout

    int timedPeek();    // private method to peek stream with timeout

    int peekNextDigit(); // returns the next numeric digit in the stream or -1 if timeout

  public:

    virtual int available() = 0;

    virtual int read() = 0;

    virtual int peek() = 0;

    virtual void flush() = 0;

    Stream() {_timeout=1000;}

// parsing methods

  void setTimeout(unsigned long timeout);  // sets maximum milliseconds to wait for stream data, default is 1 second

  bool find(char *target);   // reads data from the stream until the target string is found

  // returns true if target string is found, false if timed out (see setTimeout)

  bool find(char *target, size_t length);   // reads data from the stream until the target string of given length is found

  // returns true if target string is found, false if timed out

  bool findUntil(char *target, char *terminator);   // as find but search ends if the terminator string is found

  bool findUntil(char *target, size_t targetLen, char *terminate, size_t termLen);   // as above but search ends if the terminate string is found

  long parseInt(); // returns the first valid (long) integer value from the current position.

  // initial characters that are not digits (or the minus sign) are skipped

  // integer is terminated by the first character that is not a digit.

  float parseFloat();               // float version of parseInt

  size_t readBytes( char *buffer, size_t length); // read chars from stream into buffer

  // terminates if length characters have been read or timeout (see setTimeout)

  // returns the number of characters placed in the buffer (0 means no valid data found)

  size_t readBytesUntil( char terminator, char *buffer, size_t length); // as readBytes with terminator character

  // terminates if length characters have been read, timeout, or if the terminator character  detected

  // returns the number of characters placed in the buffer (0 means no valid data found)

  // Arduino String functions to be added here

  protected:

  long parseInt(char skipChar); // as above but the given skipChar is ignored

  // as above but the given skipChar is ignored

  // this allows format characters (typically commas) in values to be ignored

  float parseFloat(char skipChar);  // as above but the given skipChar is ignored

};

#endif